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0950bb81ab
The forced flag is used to distinguish between updates due to a configuration (parameter) change (only enabled when disarmed), and matrix updates due to motor tilt change. Only update the normalization scale if the forced flag is true, and use a tilt angle of vertical position for it to have the scales tilt-invariant. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
127 lines
4.4 KiB
C++
127 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ControlAllocation.cpp
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*
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* Interface for Control Allocation Algorithms
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*
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* @author Julien Lecoeur <julien.lecoeur@gmail.com>
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*/
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#include "ControlAllocation.hpp"
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ControlAllocation::ControlAllocation()
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{
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_control_allocation_scale.setAll(1.f);
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_actuator_min.setAll(0.f);
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_actuator_max.setAll(1.f);
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}
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void
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ControlAllocation::setEffectivenessMatrix(
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const matrix::Matrix<float, ControlAllocation::NUM_AXES, ControlAllocation::NUM_ACTUATORS> &effectiveness,
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const ActuatorVector &actuator_trim, const ActuatorVector &linearization_point, int num_actuators,
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bool update_normalization_scale)
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{
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_effectiveness = effectiveness;
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ActuatorVector linearization_point_clipped = linearization_point;
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clipActuatorSetpoint(linearization_point_clipped);
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_actuator_trim = actuator_trim + linearization_point_clipped;
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clipActuatorSetpoint(_actuator_trim);
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_num_actuators = num_actuators;
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_control_trim = _effectiveness * linearization_point_clipped;
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}
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void
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ControlAllocation::setActuatorSetpoint(
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const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator_sp)
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{
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// Set actuator setpoint
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_actuator_sp = actuator_sp;
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// Clip
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clipActuatorSetpoint(_actuator_sp);
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}
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void
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ControlAllocation::clipActuatorSetpoint(matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator) const
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{
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for (int i = 0; i < _num_actuators; i++) {
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if (_actuator_max(i) < _actuator_min(i)) {
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actuator(i) = _actuator_trim(i);
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} else if (actuator(i) < _actuator_min(i)) {
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actuator(i) = _actuator_min(i);
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} else if (actuator(i) > _actuator_max(i)) {
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actuator(i) = _actuator_max(i);
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}
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}
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}
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS>
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ControlAllocation::normalizeActuatorSetpoint(const matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> &actuator)
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const
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{
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matrix::Vector<float, ControlAllocation::NUM_ACTUATORS> actuator_normalized;
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for (int i = 0; i < _num_actuators; i++) {
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if (_actuator_min(i) < _actuator_max(i)) {
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actuator_normalized(i) = (actuator(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
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} else {
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actuator_normalized(i) = (_actuator_trim(i) - _actuator_min(i)) / (_actuator_max(i) - _actuator_min(i));
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}
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}
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return actuator_normalized;
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}
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void ControlAllocation::applySlewRateLimit(float dt)
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{
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for (int i = 0; i < _num_actuators; i++) {
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if (_actuator_slew_rate_limit(i) > FLT_EPSILON) {
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float delta_sp_max = dt * (_actuator_max(i) - _actuator_min(i)) / _actuator_slew_rate_limit(i);
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float delta_sp = _actuator_sp(i) - _prev_actuator_sp(i);
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if (delta_sp > delta_sp_max) {
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_actuator_sp(i) = _prev_actuator_sp(i) + delta_sp_max;
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} else if (delta_sp < -delta_sp_max) {
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_actuator_sp(i) = _prev_actuator_sp(i) - delta_sp_max;
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}
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}
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}
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}
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